Container self-adaptive loading robot

Abstract

The utility model provides a container self-adaptive loading robot, which comprises a movable vehicle body, an identification device arranged at the bottom of the vehicle body and a swing driving device arranged on the vehicle body; the door frame is arranged on the front side of the vehicle body and rotationally connected with the vehicle body, the door frame is driven by the swing driving device to swing front and back, and a lifting driving device is arranged on the front side of the door frame; the carrier is arranged on the front side of the portal and is driven by the lifting driving device to lift up and down, and a push plate which is driven by a telescopic driving device to move back and forth is arranged on the rear side of the top of the carrier; and the plurality of walking sensing devices are respectively arranged on the vehicle body and the carrier. Therefore, the whole process of carrying goods from the ground into the container can be independently completed by the self-adaptive carrying robot through navigation walking and climbing of the out-container recognition device and navigation walking of a plurality of walking sensing devices in the container without being matched with other mechanisms such as a conveying rail and a transverse moving conveying mechanism.

Description

Technical Field

[0001] The utility model relates to the field of loading robots, in particular to a container self-adaptive loading robot. Background Art

[0002] In the automated loading and unloading of materials, materials are loaded into containers from the supply site and unloaded from the containers to the destination, which requires the basic functions of handling and loading to implement user requirements. In the logistics process, loading and unloading are very important links. With the rapid development of modern cargo loading and transportation technology, more and more users need to realize rapid loading and transportation of materials.

[0003] At present, the existing container loading technology is loaded by combining a transport trolley with a lifting and conveying platform. For example, the prior patent application with application number 202210109414.2, entitled A loading system and its control method, delivers materials to the transverse conveying mechanism through a conveying track, and the transverse conveying mechanism then delivers the materials to the front of the smart trolley. After the lifting platform is aligned with the bottom plate of the container, the smart trolley smoothly enters and exits the compartment for loading. However, the above-mentioned existing container loading technology has many supporting equipment, occupies a large area, takes a long time to install and is costly, and cannot meet the requirements of rapid loading.

[0004] The purpose of this utility model is to design a container adaptive loading robot in view of the problems existing in the above-mentioned prior art. Utility Model Content

[0005] In view of the problems existing in the above-mentioned prior art, the utility model provides a container adaptive loading robot, which can effectively solve the problems existing in the above-mentioned prior art.

[0006] The technical solution of the utility model is:

[0007] A container adaptive loading robot, comprising:

[0008] A movable vehicle body, with an identification device for identifying the tag at the bottom, and a swing driving device on the vehicle body;

[0009] A gantry is arranged at the front side of the vehicle body and is rotatably connected to the vehicle body. The gantry is driven by the swing drive device to swing forward and backward, and a lifting drive device is arranged at the front side of the gantry;

[0010] A load carrier is arranged at the front side of the gantry and is driven by the lifting drive device to be lifted up and down. A push plate is arranged at the top rear side of the load carrier and is driven by the telescopic drive device to be moved forward and backward.

[0011] A plurality of walking sensor devices are respectively arranged on the vehicle body and the cargo carrier; when the vehicle body climbs a slope, the lifting drive device drives the cargo carrier to rise, and the swing drive device drives the door frame to tilt forward, so that the bottom of the cargo carrier remains horizontal.

[0012] Furthermore, the object rack includes a transversely arranged carrier plate and a support frame vertically arranged on the top rear side of the carrier plate, the telescopic drive device includes a reinforcement frame stacked and installed on the front side of the support frame, a plurality of scissor frames arranged between the reinforcement frame and the push plate, and a telescopic cylinder rotatably arranged in the scissor frames for driving the scissor frames to extend and retract, the push plate is installed on the front side of the plurality of scissor frames and a plurality of rollers rolling on the carrier plate are provided at the bottom.

[0013] The cam is connected to the second support frame by a first hinge, and the second hinge is connected to the third support frame by a second hinge.

[0014] Furthermore, each of the scissors frames includes two first articulated frames, two second articulated frames, a third articulated frame and a fourth articulated frame, the two first articulated frames and the two second articulated frames are arranged on the inner sides of the third articulated frames and the fourth articulated frames, and the upper ends of the two first articulated frames and the two second articulated frames are rotatably connected, the middle parts of the two first articulated frames are fixedly connected, and the upper part of the first articulated frame protrudes in the direction away from the telescopic cylinder to form a reinforcement part.

[0015] Furthermore, the front part of the reinforcement frame and the rear part of the push plate include several pairs of first guide rods and several pairs of second guide rods corresponding to the several scissors frames, the first guide groove and the second guide groove are respectively arranged on the first guide rod and the second guide rod, and the first guide groove notches of each pair of the first guide rods are arranged opposite to each other, and the second guide groove notches of each pair of the second guide rods are arranged opposite to each other, and the two sides of the upper end of the third articulated frame and the two sides of the upper end of the fourth articulated frame are respectively arranged in the first guide groove and the second guide groove through guide wheels for sliding up and down.

[0016] Furthermore, a first inclination sensor for detecting the inclination of the cargo carrier is disposed on a side portion of the cargo carrier, and a second inclination sensor for detecting the inclination of the vehicle body is disposed on the vehicle body.

[0017] Furthermore, a driving wheel group and a driven wheel group are respectively provided on the front side and the rear side of the bottom of the vehicle body, the driving wheel group includes a driving shaft provided at the bottom of the vehicle body, driving wheels rotatably mounted on the left and right ends of the driving shaft, and two driving motors provided in the left and right sides of the vehicle body and whose output ends are respectively linked to the driving wheels through transmission belt assemblies; the driven wheel group includes a driven shaft provided at the bottom of the vehicle body, driven wheels rotatably mounted on the left and right parts of the driven shaft, and the spacing between the driven wheels on the left and right sides is smaller than the spacing between the driving wheels on the left and right sides.

[0018] Furthermore, some of the walking sensing devices include laser ranging sensors arranged at the front of the left and right sides of the cargo rack, front obstacle avoidance laser radars and rear obstacle avoidance laser radars arranged at the front and rear sides of the bottom of the vehicle body, the identification device is arranged on the bottom center line of the vehicle body, and the swing driving device is a swing cylinder rotatably arranged on both sides of the vehicle body, and the telescopic end of the swing cylinder extends upward and is rotatably connected to the lower part of the door frame.

[0019] Furthermore, the lifting drive device includes a sprocket rotatably arranged in the front side of the gantry, a lifting cylinder arranged at the bottom of the sprocket for driving the sprocket to rise and fall, a chain sleeved on the outside of the sprocket and with a fork frame fixed at the lower end of the front side, the rear lower end of the chain is fixedly connected to the rear side of the gantry, a fixed frame connected to the fork frame is installed on the rear side of the cargo rack, and a number of limit wheels that roll up and down and are arranged in the gantry are rotatably arranged on both sides of the fixed frame.

[0020] Furthermore, a plurality of anti-collision frames extending symmetrically toward the left and right sides are installed at the bottom of the vehicle body, a plurality of anti-collision wheels are arranged in the anti-collision frames for transverse rotation, and the distance between the far ends of the anti-collision wheels on the left and right sides is greater than the width of the vehicle body.

[0021] Therefore, the utility model provides the following effects and / or advantages:

[0022] 1. The present application sets the gantry to swing forward and backward, sets the cargo rack to lift up and down, sets an identification device at the bottom of the vehicle body, sets walking sensor devices on the vehicle body and the cargo rack, so that when a hydraulic loading ramp with a slope is connected to the ground and the container, and a strip-shaped QR code is laid on the ground and the hydraulic loading ramp, it can be realized that when the vehicle body is outside the container, the identification device can identify the strip-shaped QR code for navigation and climbing. When climbing, the lifting drive device drives the cargo rack to rise, and the swing drive device drives the gantry to tilt forward, so that the bottom of the cargo rack remains horizontal. When the vehicle body is inside the container, a number of walking sensor devices are used for navigation and walking. Therefore, the robot can navigate walking and climbing through the recognition device outside the box and navigate walking in combination with a number of walking sensor devices inside the box. When climbing, the inclination angle of the load rack can be adaptively adjusted to keep its bottom level. There is no need to coordinate with other conveyor tracks, transverse conveyor mechanisms and other mechanisms. The entire process of transporting goods from the ground to the container can be completed independently by the adaptive transport robot, and the work of transporting goods from the ground to the conveyor track is omitted, which saves labor costs and equipment costs, reduces the land cost of the transport equipment, shortens the installation time of the transport equipment, and enables the transport robot to be quickly put into loading work.

[0023] 2. The present application improves the structural strength of the telescopic drive device by the overlapping supports of the support frame and the reinforcement frame, and the overlapping supports between the support frame and the push plate when the scissors frame is retracted, and supports the push plate with the assistance of the support frame of the telescopic drive device, thereby improving the supporting strength of the push plate for the goods. After the cargo rack is loaded with goods, when the transport robot tilts the climbing gantry forward to support the goods through the carrier plate and the push plate, the telescopic drive device and the push plate are prevented from being compressed and deformed, broken, or other damages that may cause the goods to tip over, thereby improving the stability of the transport robot's handling.

[0024] 3. In the present application, when the push plate is compressed and the scissor frame is retracted, the second articulated frame overlaps and covers the front side of the first articulated frame, and the telescopic cylinder is accommodated between the first articulated frame and the second articulated frame. Thus, the telescopic cylinder is prevented from being compressed by the support of the first articulated frame and the second articulated frame, and the telescopic end of the telescopic cylinder is arranged vertically after retraction, which can prevent the telescopic end from being damaged by excessive pressure of the cargo; at the same time, when the scissor frame is retracted, the first articulated frame and the second articulated frame overlap front and back, and the third articulated frame and the fourth articulated frame overlap left and right to support between the reinforcing frame and the push plate, so as to share the pressure on the push plate, improve the support strength of the telescopic drive device on the push plate, and then improve the support strength of the push plate on the cargo.

[0025] It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1The present invention is a schematic structural diagram of a container adaptive loading robot provided by the utility model.

[0027] Figure 2 The utility model is a schematic diagram of the exploded structure of the object carrier, the telescopic drive device and the push plate.

[0028] Figure 3 for Figure 2 Schematic diagram of the structure of the telescopic drive device and the push plate.

[0029] Figure 4 The utility model provides a schematic diagram of the side structure of a container adaptive loading robot.

[0030] Figure 5 The utility model is provided with a vehicle body provided with a bottom view structural schematic diagram.

[0031] Figure 6 This is a schematic diagram of the local structure of the door frame provided by the utility model. DETAILED DESCRIPTION

[0032] In order to facilitate understanding by those skilled in the art, the structure of the present invention is further described in detail with reference to the accompanying drawings:

[0033] refer to Figure 1-6 , a container adaptive loading robot, comprising:

[0034] A movable vehicle body 1, with an identification device 11 for identifying tags at the bottom, and a swing driving device 12 on the vehicle body 1;

[0035] A gantry 2 is arranged at the front side of the vehicle body 1 and is rotatably connected to the vehicle body 1. The gantry 2 is driven by the swing drive device 12 to swing forward and backward. A lifting drive device 21 is arranged at the front side of the gantry 2.

[0036] The load carrier 3 is arranged at the front side of the door frame 2 and is driven by the lifting drive device 21 to be lifted up and down. The top rear side of the load carrier 3 is provided with a push plate 4 which is driven by the telescopic drive device 5 to move forward and backward.

[0037] A plurality of walking sensor devices are respectively arranged on the vehicle body 1 and the cargo rack 3; thus, after the ground and the container are connected by a hydraulic loading ramp with a slope, and a strip-shaped QR code is laid on the ground and the hydraulic loading ramp, the vehicle body 1 can walk and climb the slope by identifying the corresponding label through the identification device 11 when the vehicle body 1 is outside the container. In this embodiment, the label is the above-mentioned strip-shaped QR code. In other embodiments, the label can also be other existing types of navigation labels. When the vehicle body 1 climbs the slope, the lifting drive device 21 drives the cargo rack 3 to rise, and the swing drive device 12 drives the door frame 2 to tilt forward, so that the bottom of the cargo rack 3 remains horizontal. When the vehicle body 1 is in the container, the vehicle body 1 is navigated and walked by the plurality of walking sensor devices.

[0038] The above-mentioned structure is set up, through the navigation walking and climbing of the external box identification device 11, combined with the navigation walking of a number of walking sensor devices in the box, there is no need to match other conveying tracks, transverse conveying mechanisms and other mechanisms, so that the whole process of transporting goods from the ground to the container can be completed independently by the transport robot, and the transportation work of transporting goods from the ground to the conveying track is omitted, thus saving labor costs and equipment costs, reducing the land cost of the transport equipment, shortening the installation time of the transport equipment, and realizing the rapid deployment of the transport robot for loading work.

[0039] Since the rated load of the transport robot is two tons, the push plate 4 will also be subjected to considerable pressure during the inclined climbing process. If the existing ordinary telescopic cylinder and other driving devices are used to drive and support it, it is easy for the cylinder to be damaged or the push plate to be damaged, resulting in dumping of the goods. Therefore, in order to improve the structural strength of the telescopic driving device 5 and the supporting strength of the push plate 4, the cargo rack 3 includes a transversely arranged carrier plate 31 and a support frame 32 vertically arranged on the rear side of the top of the carrier plate 31. The telescopic driving device 5 includes a reinforcement frame 51 stacked and installed on the front side of the support frame 32, a plurality of scissor frames 52 arranged between the reinforcement frame 51 and the push plate 4, and a telescopic cylinder 53 rotatably arranged in the scissor frame 52 for driving the scissor frame 52 to extend and retract. The push plate 4 is installed on the front side of the plurality of scissor frames 52 and has a plurality of rollers 41 rolling on the carrier plate 31 at the bottom. The structural strength of the telescopic drive device 5 is thereby improved through the overlapping support of the support frame 32 and the reinforcement frame 51, and the overlapping support of the scissor frame 52 between the support frame 32 and the push plate 4 when the scissors frame 52 is retracted. The telescopic drive device 5 assists the support frame 32 in supporting the push plate 4, thereby improving the supporting strength of the push plate 4 for the goods. After the cargo carrier 3 is loaded with goods, when the transport robot tilts the climbing door frame 2 forward to support the goods through the carrier plate 31 and the push plate 4, the telescopic drive device 5 and the push plate 4 are prevented from being deformed, broken, or otherwise damaged by pressure, which may cause the goods to tip over, thereby improving the stability of the transport robot's transport.

[0040] In order to protect the corresponding driving device when the push plate 4 is compressed and the scissor frame 52 is retracted, the front part of the reinforcement frame 51 and the rear part of the push plate 4 are respectively provided with a plurality of first guide grooves 511 and a plurality of second guide grooves 42 extending vertically. Each of the scissor frames 52 includes a first hinge frame 521 and a second hinge frame 522 rotatably connected at the upper end, and a third hinge frame 523 and a fourth hinge frame 524 rotatably connected at the lower end. The lower end of the first hinge frame 521 is rotatably connected to the lower side of the reinforcement frame 51, and the lower end of the second hinge frame 522 is rotatably connected to the lower side of the rear of the push plate 4. The first hinge frame 521 and the third hinge frame 523 are cross-arranged and rotatably connected in the middle. The second hinge frame 522 and the fourth hinge frame 524 are cross-arranged and rotatably connected in the middle. The upper end of the third hinge frame 523 and the upper end of the fourth hinge frame 524 are respectively slid up and down in the first guide groove 511 and the second guide groove 42. The two ends of the telescopic cylinder 53 are rotatably connected to the upper part of the first articulated frame 521 and the lower part of the second articulated frame 522 respectively. When the push plate 4 is compressed and the scissors frame 52 retracts, the second articulated frame 522 is overlapped and covered on the front side of the first articulated frame 521, and the telescopic cylinder 53 is accommodated between the first articulated frame 521 and the second articulated frame 522, so that the telescopic cylinder 53 is prevented from being compressed by the support of the first articulated frame 521 and the second articulated frame 522, and the telescopic end of the telescopic cylinder 53 is arranged vertically after retraction, so as to prevent the telescopic end from being damaged by excessive pressure of the cargo; at the same time, when the scissors frame 52 retracts, the first articulated frame 521 and the second articulated frame 522 are overlapped front and back, and the third articulated frame 523 and the fourth articulated frame 524 are overlapped left and right to support between the reinforcing frame 51 and the push plate 4, so as to share the pressure on the push plate 4, improve the supporting strength of the telescopic drive device 5 on the push plate 4, and further improve the supporting strength of the push plate 4 on the cargo.

[0041] In order to improve the structural strength of the scissors frame 52, thereby further improving the overall structural strength of the telescopic drive device 5, each of the scissors frames 52 includes two first articulated frames 521, two second articulated frames 522, a third articulated frame 523 and a fourth articulated frame 524, the two first articulated frames 521 and the two second articulated frames 522 are arranged on the inner side of the third articulated frame 523 and the fourth articulated frame 524, and the upper ends of the two first articulated frames 521 and the two second articulated frames 522 are rotatably connected, the middle parts of the two first articulated frames 521 are fixedly connected, and the upper part of the first articulated frame 521 protrudes in the direction away from the telescopic cylinder 53 to form a reinforcement portion 5211. Thus, by setting the number of the first articulated frame 521 and the second articulated frame 522 to two and then improving the structural strength of the first articulated frame 521 by setting the reinforcing part 5211, the installation strength of the telescopic cylinder 53 is improved, so as to strengthen the overall structural strength of the scissors frame 52, thereby improving the overall structural strength of the telescopic drive device 5, and at the same time improving the supporting strength of the scissors frame 52 to the push plate 4.

[0042] In order to improve the smoothness of the up and down sliding of the upper ends of the third articulated frame 523 and the fourth articulated frame 524, the front part of the reinforcing frame 51 and the rear part of the pushing plate 4 include several pairs of first guide rods 512 and several pairs of second guide rods 43 corresponding to the several scissors frames 52, the first guide groove 511 and the second guide groove 42 are respectively arranged on the first guide rod 512 and the second guide rod 43, and the first guide groove 511 of each pair of the first guide rods 512 are arranged opposite to each other, and the second guide groove 42 of each pair of the second guide rods 43 are arranged opposite to each other, and the upper ends of the third articulated frame 523 and the upper ends of the fourth articulated frame 524 are respectively arranged in the first guide groove 511 and the second guide groove 42 through guide wheels 525 to slide up and down.

[0043] In order to more flexibly adjust the inclination of the gantry 2 and the load carrier 3, a first inclination sensor 33 for detecting the inclination of the load carrier 3 is provided on the side of the load carrier 3, and a second inclination sensor 13 for detecting the inclination of the load carrier 1 is provided on the vehicle body 1. Thus, through the detection feedback of the first inclination sensor 33 and the second inclination sensor 13, when the handling robot climbs a slope, the swing drive device 12 can be controlled to drive the forward inclination angle of the gantry 2, and the lifting drive device 21 can be controlled to drive the lifting height of the load carrier 3, so as to adjust the load plate 31 of the load carrier 3 to be parallel to the ground, reduce the pressure of the goods on the push plate 4 and the vehicle body 1, and avoid interference between the load plate 31 and the slope.

[0044] Specifically, a driving wheel set 6 and a driven wheel set 7 are respectively provided at the front and rear sides of the bottom of the vehicle body 1. The driving wheel set 6 includes a driving shaft provided at the bottom of the vehicle body 1, driving wheels 61 rotatably sleeved on the left and right ends of the driving shaft, and two driving motors 62 provided in the left and right sides of the vehicle body 1 and whose output ends are respectively linked to the driving wheels 61 through transmission belt assemblies. Thus, the driving wheels 61 can be controlled to perform differential steering and deviation correction through the difference in speed between the driving motors 62 on the left and right sides, thereby driving the vehicle body 1 to steer and correct the deviation. The driven wheel set 7 includes a driving shaft provided at the bottom of the vehicle body 1, a driving wheel 61 rotatably sleeved on the left and right ends of the driving shaft, and two driving motors 62 provided in the left and right sides of the vehicle body 1 and whose output ends are respectively linked to the driving wheels 61 through transmission belt assemblies. The driven shaft 71 at the bottom of the vehicle body 1 and the driven wheels 72 rotatably sleeved on the left and right parts of the driven shaft 71, respectively, the distance between the driven wheels 72 on the left and right sides is smaller than the distance between the driving wheels 61 on the left and right sides, so that the existing method of separately arranging four wheels at the four corners of the bottom of the vehicle body is replaced by the method of sleeved wheels at both ends of the shaft, which reduces the wheel spacing between the driving wheels 61 and the driven wheels 72, and further reduces the wheel spacing between the driven wheels 72, reduces the corresponding friction during differential steering, and improves the smoothness and stability of the steering of the handling robot when loading heavier goods. Specifically, the driving wheel 61 and the driven wheel 72 are both set as rubber-coated wheels with the same load-bearing capacity.

[0045] In order to ensure the stability of the handling robot when walking in the container, several walking sensing devices include a laser ranging sensor 34 arranged at the front of the left and right sides of the cargo rack 3, a front obstacle avoidance laser radar 14 and a rear obstacle avoidance laser radar 15 arranged at the front and rear sides of the bottom of the vehicle body 1, the identification device 11 is arranged on the bottom center line of the vehicle body 1, and the swing drive device 12 is a swing cylinder rotatably arranged on both sides of the vehicle body 1, and the telescopic end of the swing cylinder extends upward and is rotatably connected to the lower part of the door frame 2.

[0046] In order to improve the stability of the lifting drive device 21 driving the load carrier 3 to rise and fall, the lifting drive device 21 includes a sprocket 211 rotatably arranged in the front side of the door frame 2, a lifting cylinder 212 arranged at the bottom of the sprocket 211 for driving the sprocket 211 to rise and fall, and a chain 213 which is sleeved on the outside of the sprocket 211 and has a fork frame fixed at the lower front end. The rear lower end of the chain 213 is fixedly connected to the rear side of the door frame 2, and a fixed frame 35 connected to the fork frame is installed on the rear side of the load carrier 3. A plurality of limit wheels 351 which are rotatably arranged on both sides of the fixed frame 35 and roll up and down and are arranged in the door frame 2.

[0047] In order to prevent the handling robot from colliding with the inner wall of the container when walking in the container and causing damage to the vehicle body 1, a plurality of anti-collision frames 16 symmetrically extending to the left and right sides are installed at the bottom of the vehicle body 1, and a plurality of anti-collision wheels 161 are arranged in the anti-collision frame 16 for transverse rotation, and the distance between the far ends of the anti-collision wheels 161 on the left and right sides is greater than the width of the vehicle body 1. Thus, the arrangement of the plurality of anti-collision wheels 161 can prevent the vehicle body 1 from being damaged after colliding with the inner wall of the container, thereby increasing the service life of the vehicle body 1.

[0048] Working principle:

[0049] The ground and the container are connected by a hydraulic loading ramp with a slope, and a strip QR code is laid on the ground and the hydraulic loading ramp. The handling robot walks outside the container by identifying the strip QR code through a code scanner. The handling robot first walks to the front of the goods and forks the goods through the carrier plate 31, then the lifting drive device 21 drives the carrier 3 to rise, the swing drive device 12 drives the gantry 2 to tilt backward, and then walks to the hydraulic loading ramp. At the same time, the swing drive device 12 drives the gantry 2 to tilt forward to keep the carrier plate 31 parallel to the ground. After the handling robot enters the container, the swing drive device 12 drives the gantry 2 to reset to keep the carrier plate 31 parallel to the ground. The front obstacle avoidance laser radar 14, the rear obstacle avoidance laser radar 15 and the laser ranging sensor 34 detect and control the drive motor 62 to drive the drive wheel 61 to walk, turn or correct. After reaching the designated position, the lifting drive device 21 drives the carrier 3 to descend, the swing drive device 12 drives the gantry 2 to tilt forward, the telescopic drive device 5 drives the push plate 4 to push the goods out, and the vehicle body 1 retreats, thereby unloading the goods at the designated position.

[0050] The above description is only the preferred implementation of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A container adaptive loading robot, characterized in that: include: A movable vehicle body (1) is provided with an identification device (11) for identifying a tag at the bottom, and a swing driving device (12) is provided on the vehicle body (1); A door frame (2) is arranged on the front side of the vehicle body (1) and is rotatably connected to the vehicle body (1); the door frame (2) is driven by the swing drive device (12) to swing forward and backward; and a lifting drive device (21) is arranged on the front side of the door frame (2); A load carrier (3) is arranged on the front side of the door frame (2) and is driven by the lifting drive device (21) to be lifted up and down. A push plate (4) is arranged on the top rear side of the load carrier (3) and is driven by the telescopic drive device (5) to be moved forward and backward. A plurality of walking sensor devices are respectively arranged on the vehicle body (1) and the cargo carrier (3); when the vehicle body (1) climbs a slope, the lifting drive device (21) drives the cargo carrier (3) to rise, and the swing drive device (12) drives the door frame (2) to tilt forward, so that the bottom of the cargo carrier (3) remains horizontal.

2. The container adaptive loading robot according to claim 1, characterized in that: The object carrier (3) comprises a transversely arranged carrier plate (31) and a support frame (32) vertically arranged on the top rear side of the carrier plate (31); the telescopic drive device (5) comprises a reinforcing frame (51) superimposed and installed on the front side of the support frame (32), a plurality of scissor frames (52) arranged between the reinforcing frame (51) and the push plate (4), and a telescopic cylinder (53) rotatably arranged in the scissor frames (52) for driving the scissor frames (52) to telescope; the push plate (4) is installed on the front side of the plurality of scissor frames (52) and has a plurality of rollers (41) rolling on the carrier plate (31) at the bottom.

3. The container adaptive loading robot according to claim 2, characterized in that: The front part of the reinforcing frame (51) and the rear part of the pushing plate (4) are respectively provided with a plurality of first guide grooves (511) and a plurality of second guide grooves (42) extending vertically. Each of the scissor frames (52) includes a first hinged frame (521) and a second hinged frame (522) rotatably connected at the upper end, and a third hinged frame (523) and a fourth hinged frame (524) rotatably connected at the lower end. The lower end of the first hinged frame (521) is rotatably connected to the lower side of the reinforcing frame (51), and the lower end of the second hinged frame (522) is rotatably connected to the lower side of the rear of the pushing plate (4). The first hinged frame (521) and the third hinged frame (523) are cross-arranged and rotatably connected in the middle. The second hinged frame (523) and the fourth hinged frame (524) are rotatably connected at the lower end. The third hinged frame (522) and the fourth hinged frame (524) are cross-arranged and rotatably connected in the middle, the upper end of the third hinged frame (523) and the upper end of the fourth hinged frame (524) are respectively slidably arranged in the first guide groove (511) and the second guide groove (42), the two ends of the telescopic cylinder (53) are respectively rotatably connected to the upper part of the first hinged frame (521) and the lower part of the second hinged frame (522), when the push plate (4) is pressed and the scissors frame (52) retracts, the second hinged frame (522) is overlapped and covered on the front side of the first hinged frame (521), and the telescopic cylinder (53) is accommodated between the first hinged frame (521) and the second hinged frame (522).

4. The container adaptive loading robot according to claim 3, characterized in that: Each of the scissor frames (52) comprises two first articulated frames (521), two second articulated frames (522), a third articulated frame (523) and a fourth articulated frame (524); the two first articulated frames (521) and the two second articulated frames (522) are arranged inside the third articulated frames (523) and the fourth articulated frame (524); the upper ends of the two first articulated frames (521) and the two second articulated frames (522) are rotatably connected; the middle parts of the two first articulated frames (521) are fixedly connected; the upper part of the first articulated frame (521) protrudes in a direction away from the telescopic cylinder (53) to form a reinforcement part (5211).

5. The container adaptive loading robot according to claim 3, characterized in that: The front part of the reinforcing frame (51) and the rear part of the pushing plate (4) include a plurality of pairs of first guide rods (512) and a plurality of pairs of second guide rods (43) corresponding to the plurality of scissor frames (52); the first guide groove (511) and the second guide groove (42) are respectively arranged on the first guide rod (512) and the second guide rod (43); and the notches of the first guide groove (511) of each pair of the first guide rods (512) are arranged opposite to each other; and the notches of the second guide groove (42) of each pair of the second guide rods (43) are arranged opposite to each other; and the upper ends of the third articulated frame (523) and the upper ends of the fourth articulated frame (524) are respectively slid up and down in the first guide groove (511) and the second guide groove (42) through guide wheels (525).

6. The container adaptive loading robot according to claim 1, characterized in that: A first inclination sensor (33) for detecting the inclination of the cargo carrier (3) is provided on the side of the cargo carrier (3), and a second inclination sensor (13) for detecting the inclination of the vehicle body (1) is provided on the vehicle body (1).

7. The container adaptive loading robot according to claim 1, characterized in that: A driving wheel group (6) and a driven wheel group (7) are respectively provided at the front side and the rear side of the bottom of the vehicle body (1); the driving wheel group (6) comprises a driving shaft provided at the bottom of the vehicle body (1), driving wheels (61) rotatably mounted on the left and right ends of the driving shaft, and two driving motors (62) provided in the left and right sides of the vehicle body (1) and whose output ends are respectively linked to the driving wheels (61) through transmission belt assemblies; the driven wheel group (7) comprises a driven shaft (71) provided at the bottom of the vehicle body (1), and driven wheels (72) rotatably mounted on the left and right parts of the driven shaft (71); the spacing between the driven wheels (72) on the left and right sides is smaller than the spacing between the driving wheels (61) on the left and right sides.

8. The container adaptive loading robot according to claim 1, characterized in that: The plurality of walking sensing devices include laser ranging sensors (34) arranged at the front of the left and right sides of the cargo rack (3), front obstacle avoidance laser radars (14) and rear obstacle avoidance laser radars (15) arranged at the front and rear sides of the bottom of the vehicle body (1), the identification device (11) is arranged on the bottom center line of the vehicle body (1), and the swing drive device (12) is a swing cylinder rotatably arranged on both sides of the vehicle body (1), and the telescopic end of the swing cylinder extends upward and is rotatably connected to the lower part of the door frame (2).

9. The container adaptive loading robot according to claim 1, characterized in that: The lifting drive device (21) comprises a sprocket (211) rotatably arranged in the front side of the door frame (2), a lifting cylinder (212) arranged at the bottom of the sprocket (211) for driving the sprocket (211) to lift and lower, and a chain (213) sleeved on the outside of the sprocket (211) and fixedly provided with a fork frame at the lower end of the front side, the lower end of the rear side of the chain (213) is fixedly connected to the rear side of the door frame (2), and a fixed frame (35) connected to the fork frame is installed on the rear side of the load carrier (3), and a plurality of limit wheels (351) rotatably arranged on both sides of the fixed frame (35) and rolling up and down and arranged in the door frame (2).

10. The container adaptive loading robot according to claim 1, characterized in that: A plurality of anti-collision frames (16) are installed at the bottom of the vehicle body (1) and extend symmetrically toward the left and right sides respectively. A plurality of anti-collision wheels (161) are arranged in the anti-collision frames (16) for transverse rotation. The distance between the far ends of the anti-collision wheels (161) on the left and right sides is greater than the width of the vehicle body (1).

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